CN105717530A - Method for applying mobile base station to enhance positioning effect in network RTK - Google Patents

Abstract

The invention discloses a method of applying a mobile bas station to enhance a positioning effect in a network RTK. When faults such as abnormal use due to abnormal activity of an ionized layer or an intra-domain base station fault happen in the network RTK service range, a mobile base station without a precise coordinate is provisionally built in the fault area, GNSS observing data obtained by the mobile base station is utilized to obtain and refine atmosphere corrected information of the fault area, and difference corrected information broadcasted from a data processing center to mobile users is corrected, so that the precision and reliability of network RTK positioning service are ensured, and the usability of the system is increased.

Description

A kind of method that application flowing base station strengthens locating effect in network RTK

Technical field

The invention belongs to Global Navigation System and location field of measuring technique, specifically, relate to a kind of when without knowing flowing base station accurate coordinates in advance, the GNSS data utilizing flowing base station obtains the accurate atmospheric correction information in this base station region and then the method strengthening the positioning precision of network RTK, reliabilty and availability.

Background technology

When RTK positions, include ionosphere delay, tropospheric delay with distance correlated error be in double difference pattern limit RTK position effective operation distance main cause.Error is carried out region modeling by technology of network RTK, and it occurs greatly reducing the distance correlated error restriction to RTK orientation distance so that the orientation distance of user, within the 10-15km of tradition list station RTK technology, rises to tens kilometers of technology of network RTK.But; owing to China is vast in territory; the part low latitudes Showed Very Brisk of ionosphere activity in the daytime; make original technology of network RTK cannot effectively weaken the ionosphere delay impact on location, in turn result in legacy network RTK system and cannot provide the user reliable and stable positioning service when ionosphere activity is abnormal.In addition, in the practical application of network RTK, base station is likely to be due to the reasons such as power-off, receiver fault, network interruption, geological disaster, position change and causes that base station cannot normally use, network RTK base station distance is strengthened suddenly, thus affecting networked RTK system this station is positioned about the positioning service of user.

Summary of the invention

In order to solve above-mentioned technical problem; the invention provides a kind of application flowing base station method to strengthen locating effect in network RTK; cannot the normal fault zone such as use to occurring in network RTK service area in ionosphere activity exception or territory that base station breaks down; utilize the flowing base station without accurate coordinates at fault zone ephemeral encryption base station net; obtain the slow correcting information of air of this area, and then ensure precision and the reliability of network RTK positioning service.

The technical solution adopted in the present invention is: a kind of application flowing base station method to strengthen locating effect in network RTK, it is characterized in that: when occur in network RTK service area in because of ionosphere activity exception or territory base station fault cannot the normally fault such as use time, at the fault zone temporary erection flowing base station without accurate coordinates, the GNSS utilizing flowing base station acquired observes data, obtain and the atmospheric correction information of this fault zone of refining, and then correction data processing centre broadcasts to the differential correcting information of mobile users, thus ensureing precision and the reliability of network RTK positioning service, the availability of raising system.

As preferably, described at the fault zone temporary erection flowing base station without accurate coordinates, it is set up GNSS receiver in center, fault zone, or start the GNSS receiver that this region is laid in advance, as flowing base station, the data transmission of rover station adopts ICP/IP protocol, and data form is RTCM3.2 and more highest version.

As preferably, the described GNSS utilizing flowing base station acquired observes data, it is that the pattern adopting static measurement resolves the GNSS baseline between flowing base station and fixed reference station, the integer ambiguity between baseline and the coordinate information of flowing reference station cm level can be obtained by the static observation of a period of time.

As preferably, the pattern of described employing static measurement resolves the GNSS baseline between flowing base station and fixed reference station, and its solution formula is:

In formula, p, q respectively fixed reference station and flowing base station；I, j respectively observation satellite and reference satellite；λ is carrier wavelength；For the double difference carrier observations between survey station p, q and satellite i, j；For double difference Pseudo-range Observations；Station star double difference for the geometric distance of survey station to satellite；For double difference integer ambiguity；For double difference ionosphere delay；For double difference tropospheric delay；For double difference phase observation value measurement noise；For double difference Pseudo-range Observations measurement noise.

As preferably, the atmospheric correction information of described acquisition this fault zone of refining, is utilize the GNSS observation data of flowing base station, integer ambiguity, flowing base station positional information to generate more accurate ionosphere, this region, tropospheric delay correction information.

As preferably, described ionosphere, tropospheric delay correction information is:

$\begin{array}{c}\mathrm{\Δ}\▿Iono=\left(\frac{f_2^2}{f_1^2-f_2^2}\right)\[({\mathrm{\λ}}_1\mathrm{\Δ}\▿{\mathrm{\φ}}_1-{\mathrm{\λ}}_2\mathrm{\Δ}\▿{\mathrm{\φ}}_2)+({\mathrm{\λ}}_1\mathrm{\Δ}\▿N_1-{\mathrm{\λ}}_2\mathrm{\Δ}\▿N_2)\]\\ \mathrm{\Δ}\▿Trop=\mathrm{\Δ}\▿\mathrm{\ρ}-({\mathrm{\λ}}_1\mathrm{\Δ}\▿{\mathrm{\φ}}_1+{\mathrm{\λ}}_1\mathrm{\Δ}\▿N_1)-\mathrm{\Δ}\▿Iono\end{array};$

In formula,Represent double difference between the star of station；λ₁、λ₂For L1 and L2 carrier wavelength；F₁、f₂For L1 and L2 carrier frequency, N₁、N₂For L1 and L2 ambiguity of carrier in full period；φ₁、φ₂For L1 and L2 carrier observations；ρ is the survey station geometric distance to satellite；Iono is ionosphere delay；Trop is tropospheric delay.

As preferably, described correction data processing centre broadcasts to the differential correcting information of mobile users, is that this correcting information is added in the calculating of this area difference correcting information by data center, corrects the network RTK differential correcting information in this region.

Compared with existing network RTK technology, the present invention is had the beneficial effect that to the present invention is directed to existing network RTK technology poor in ionosphere activity active area positioning precision, reliability is low, availability is restricted, and original base station is impaired will make this near zone location, station affected present situation of user's real-time positioning, it is proposed that a kind of new technology of network RTK with flowing base station.This technology when without know in advance flowing base station accurate coordinates; using base station in flowing base station ephemeral encryption ionosphere activity exception or territory to break down cannot the GNSS base station net of the normal fault zone such as use; shorten base station spacing; and resolved by entirety; obtain accurate ionosphere, tropospheric delay correction data at short notice, thus improving and ensured positioning precision and the reliability of networked RTK system location user.

Accompanying drawing explanation

Fig. 1: flow chart of the invention process.

Detailed description of the invention

Understand for the ease of those of ordinary skill in the art and implement the present invention, below in conjunction with drawings and Examples, the present invention is described in further detail, should be appreciated that enforcement example described herein is merely to illustrate and explains the present invention, be not intended to limit the present invention.

A kind of method that application flowing base station strengthens locating effect in network RTK provided by the invention; occur in the service area of network RTK in ionosphere activity exception or territory base station break down cannot normally the fault zone such as use time; namely flowing base station is set up in the center of fault zone; observe data by the GNSS that this flowing base station is obtained to process; obtain the atmospheric correction information of this area, and then improve and ensured networked RTK system the location positioning precision of user, reliabilty and availability.General flow chart is as shown in Figure 1.

Specifically include following steps:

1) first, starting the networked RTK system with flowing base station, resolve flow process when namely carrying out normal network RTK under normal circumstances, for network, RTK user provides service.

2) detect, by the Space environment monitor module based on CORS, the fault zone that ionosphere activity is abnormal, at the center temporary erection flowing base station of this fault zone；When occur original GNSS base station impaired cannot normal operation time, can near former GNSS base station or field operation regional center build flowing base station (GNSS receiver).Select should select place unobstructed, that multipath effect is little, earth's surface is stable during decorating position as far as possible.

3) network RTK data processing centre is provided with the special network port monitoring flowing base station, flowing base station connects networked RTK system by ICP/IP protocol, and basic GNSS is observed data send to data processing centre, transmitting text form is RTCM3.2 and more highest version.

4) when receiving the real time data that network RTK data processing centre passed back by fault zone flowing base station, namely system starts to call flowing base station data processing module, certain fixed reference station near selective flow base station is as base station, the pattern using static difference measurement carries out Baselines, as shown in formula (1):

In formula, p, q respectively fixed reference station and flowing base station；I, j respectively observation satellite and reference satellite；λ is carrier wavelength；For the double difference carrier observations between survey station p, q and satellite i, j；For double difference Pseudo-range Observations；Station star double difference for the geometric distance of survey station to satellite；For double difference integer ambiguity；For double difference ionosphere delay；For double difference tropospheric delay；For double difference phase observation value measurement noise；For double difference Pseudo-range Observations measurement noise.

By a period of time static observation, double difference integer ambiguity is fixed, more fixing fuzziness inverse iteration is entered formula (1), obtain the coordinate information of flowing base station.

5) after the GNSS obtaining flowing base station observes data, integer ambiguity, flowing base station cm level position information, this survey station can be included in GNSS base station net, GNSS observation data, integer ambiguity, the flowing base station positional information etc. that utilize this station just can calculate and obtain the ionosphere of this region, station, tropospheric delay information, such as formula (2), and then original atmospheric correction information is corrected.

$\begin{array}{c}\mathrm{\Δ}\▿Iono=\left(\frac{f_2^2}{f_1^2-f_2^2}\right)\[({\mathrm{\λ}}_1\mathrm{\Δ}\▿{\mathrm{\φ}}_1-{\mathrm{\λ}}_2\mathrm{\Δ}\▿{\mathrm{\φ}}_2)+({\mathrm{\λ}}_1\mathrm{\Δ}\▿N_1-{\mathrm{\λ}}_2\mathrm{\Δ}\▿N_2)\]\\ \mathrm{\Δ}\▿Trop=\mathrm{\Δ}\▿\mathrm{\ρ}-({\mathrm{\λ}}_1\mathrm{\Δ}\▿{\mathrm{\φ}}_1+{\mathrm{\λ}}_1\mathrm{\Δ}\▿N_1)-\mathrm{\Δ}\▿Iono\end{array}---\left(2\right);$

In formula,Represent double difference between the star of station；λ₁、λ₂For L1 and L2 carrier wavelength；F₁、f₂For L1 and L2 carrier frequency, N₁、N₂For L1 and L2 ambiguity of carrier in full period；φ₁、φ₂For L1 and L2 carrier observations；ρ is the survey station geometric distance to satellite；Iono is ionosphere delay；Trop is tropospheric delay.

6) after generating the accurate atmospheric correction information in this region; differential correcting information needed for user is broadcast to user by system according to the different demands of user; so far, just with the networked RTK system user of flowing base station can break down and normally cannot complete positioning operation in the fault zone such as use by base station in ionosphere activity exception or territory.

It should be appreciated that the part that this specification does not elaborate belongs to prior art.

Should be understood that; the above-mentioned description for preferred embodiment is comparatively detailed; therefore the restriction to scope of patent protection of the present invention can not be thought; those of ordinary skill in the art is under the enlightenment of the present invention; under the ambit protected without departing from the claims in the present invention; can also making replacement or deformation, each fall within protection scope of the present invention, the scope that is claimed of the present invention should be as the criterion with claims.

Claims (7)

1. the method that application flowing base station strengthens locating effect in network RTK, it is characterized in that: when occur in network RTK service area in because of ionosphere activity exception or territory base station fault cannot the normally fault such as use time, at the fault zone temporary erection flowing base station without accurate coordinates, the GNSS utilizing flowing base station acquired observes data, obtain and the atmospheric correction information of this fault zone of refining, and then correction data processing centre broadcasts to the differential correcting information of mobile users, thus ensureing precision and the reliability of network RTK positioning service, the availability of raising system.

2. the method that application flowing base station strengthens locating effect in network RTK according to claim 1, it is characterized in that: described at the fault zone temporary erection flowing base station without accurate coordinates, it is set up GNSS receiver in center, fault zone, or start the GNSS receiver that this region is laid in advance, as flowing base station, the data transmission of rover station adopts ICP/IP protocol, and data form is RTCM3.2 and more highest version.

3. the method that application flowing base station strengthens locating effect in network RTK according to claim 1, it is characterized in that: the described GNSS utilizing flowing base station acquired observes data, it is that the pattern adopting static measurement resolves the GNSS baseline between flowing base station and fixed reference station, the integer ambiguity between baseline and the coordinate information of flowing reference station cm level can be obtained by the static observation of a period of time.

4. the method that application flowing base station strengthens locating effect in network RTK according to claim 3, it is characterised in that: the pattern of described employing static measurement resolves the GNSS baseline between flowing base station and fixed reference station, and its solution formula is:

In formula, p, q respectively fixed reference station and flowing base station；I, j respectively observation satellite and reference satellite；λ is carrier wavelength；For the double difference carrier observations between survey station p, q and satellite i, j；For double difference Pseudo-range Observations；Station star double difference for the geometric distance of survey station to satellite；For double difference integer ambiguity；For double difference ionosphere delay；For double difference tropospheric delay；For double difference phase observation value measurement noise；For double difference Pseudo-range Observations measurement noise.

5. the method that application flowing base station strengthens locating effect in network RTK according to claim 1, it is characterized in that: the atmospheric correction information of described acquisition this fault zone of refining, be utilize the GNSS observation data of flowing base station, integer ambiguity, flowing base station positional information to generate more accurate ionosphere, this region, tropospheric delay correction information.

6. the application flowing base station method that strengthens locating effect in network RTK according to claim 5, it is characterised in that described ionosphere, tropospheric delay correction information is:

$\mathrm{\Δ}\▿Iono=\left(\frac{f_2^2}{f_1^2-f_2^2}\right)\[({\mathrm{\λ}}_1\mathrm{\Δ}\▿{\mathrm{\φ}}_1-{\mathrm{\λ}}_2\mathrm{\Δ}\▿{\mathrm{\φ}}_2)+({\mathrm{\λ}}_1\mathrm{\Δ}\▿N_1-{\mathrm{\λ}}_2\mathrm{\Δ}\▿N_2)\];$

$\mathrm{\Δ}\▿Trop=\mathrm{\Δ}\▿\mathrm{\ρ}-({\mathrm{\λ}}_1\mathrm{\Δ}\▿{\mathrm{\φ}}_1+{\mathrm{\λ}}_1\mathrm{\Δ}\▿N_1)-\mathrm{\Δ}\▿Iono$

In formula,Represent double difference between the star of station；λ₁、λ₂For L1 and L2 carrier wavelength；F₁、f₂For L1 and L2 carrier frequency, N₁、N₂For L1 and L2 ambiguity of carrier in full period；φ₁、φ₂For L1 and L2 carrier observations；ρ is the survey station geometric distance to satellite；Iono is ionosphere delay；Trop is tropospheric delay.

7. the method that application flowing base station strengthens locating effect in network RTK according to claim 1, it is characterized in that: described correction data processing centre broadcasts to the differential correcting information of mobile users, it is that this correcting information is added in the calculating of this area difference correcting information by data center, corrects the network RTK differential correcting information in this region.